| dc.contributor.author | Murray, Matthew | |
| dc.contributor.author | Hovland, Geir | |
| dc.contributor.author | Brogårdh, Torgny | |
| dc.date.accessioned | 2011-11-28T09:41:24Z | |
| dc.date.available | 2011-11-28T09:41:24Z | |
| dc.date.issued | 2011 | |
| dc.identifier.citation | Murray, M., Hovland, G., & Brogårdh, T. (2011). Optimised assembly mode reconfiguration of the 5-DOF Gantry-Tau using mixed-integer programming. Meccanica, 46(1), 101-111. doi: 10.1007/s11012-010-9404-y | no_NO |
| dc.identifier.issn | 0025-6455 | |
| dc.identifier.uri | http://hdl.handle.net/11250/136810 | |
| dc.description | Pulished version of an article in the journal: Meccanica. Also available from the publisher at: http://dx.doi.org/10.1007/s11012-010-9404-y | no_NO |
| dc.description.abstract | This paper presents a systematic approach based on Mixed Integer Linear Programming for finding an optimal singularity-free reconfiguration path of the 5-DOF Gantry-Tau parallel kinematic machine. The results in the paper demonstrate that singularity-free reconfiguration (change of assembly mode) of the machine is possible, which significantly increases the usable workspace. The method has been applied to a full-scale prototype and the singularity-free path has been verified both in simulations and with physical experiments using real-time control of the prototype. The toolpoint positions have been verified by using measurements from a high precision laser tracker. © 2010 Springer Science+Business Media B.V. | no_NO |
| dc.language.iso | eng | no_NO |
| dc.publisher | Springer | no_NO |
| dc.subject | parallell kinematic machine, sigularity avoidance, assembly mode, reconfiguration | no_NO |
| dc.title | Optimised assembly mode reconfiguration of the 5-DOF Gantry-Tau using mixed-integer programming | no_NO |
| dc.type | Journal article | no_NO |
| dc.type | Peer reviewed | no_NO |
| dc.subject.nsi | VDP::Technology: 500::Mechanical engineering: 570::Machine construction and engineering technology: 571 | no_NO |
| dc.source.pagenumber | 101-111 | no_NO |
| dc.source.volume | 46 | no_NO |
| dc.source.journal | Meccanica | no_NO |
| dc.source.issue | 1 | no_NO |
